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Several methods for deriving position from VOR (without DME) have been developed and evaluated in this study. These methods permit navigation to arbitrary waypoints using either two VOR's or one VOR and a clock. These algorithms have been tested in computer simulations and in flight tests. The single VOR method appears to be the most practical and is a candidate for an automated light plane area navigation system, called VORNAV.
This paper describes an error analysis of an autonomous navigator using refraction measurements of starlight passing through the upper atmosphere. The analysis is based on a discrete linear Kalman filter. The filter generated steady-state values of navigator performance for a variety of test cases. Results of these simulations show that in low-earth orbit position-error standard deviations of less than 0.100 km may be obtained using only 40 star sightings per orbit.
Hardware, software, and performance features of the Digital Instrumentation and Navigation System (DIANS) designed for NASA research to collect flight data as a strap-down system are detailed. The support software for the system has a cross compiler, a linkage editor, and cross assembler, extended communication capabilities, postflight processing applications, and compilers for PASCAL, FORTRAN, CBASIC and MT. The DIANS microcomputer has a 1 Mbyte RAM module, a fast floating point processor board, a 68000 monoboard computer with 64 RAM, a 128 Kbyte bubble memory card, and a navigation radio. The system also carries a battery for full system operation for over an hour. The support software is also stored on a host mainframe computer, which has a CP/M operating system. Pitch, roll, and heading data are gathered from the on-board system, and communication is possible between the airborne and ground-based computer.
This study was devoted to an investigation of the feasibility of applying advanced image processing techniques to enhance radar image characteristics that are pertinent to the pilot's navigation and guidance task. Millimeter (95 GHz) wave radar images for the overwater (i.e., offshore oil rigs) and overland (Heliport) scenario were used as a data base. The purpose of the study was to determine the applicability of image enhancement and scene analysis algorithms to detect and improve target characteristics (i.e., manmade objects such as buildings, parking lots, cars, roads, helicopters, towers, landing pads, etc.) that would be helpful to the pilot in determining his own position/orientation with respect to the outside world and assist him in the navigation task. Results of this study show that significant improvements in the raw radar image may be obtained using two dimensional image processing algorithms. In the overwater case, it is possible to remove the ocean clutter by thresholding the image data, and furthermore to extract the target boundary as well as the tower and catwalk locations using noise cleaning (e.g., median filter) and edge detection (e.g., Sobel operator) algorithms.
Much of the work that the Space Shuttle will perform requires a capability to rendezvous with other orbiting objects. The formulation and design philosophy behind the Space Shuttle Orbiter rendezvous navigation system are the subjects of this paper. The current rendezvous navigation design incorporates a Kalman filter to estimate the relative position and velocity. The filter is augmented with state elements for the estimation of colored measurement noise and acceleration modeling errors. Several measurement types are available to the filter: a manual optical sighting device, an automatic optical tracking instrument, and a rendezvous radar which provides range and range rate measurements as well as the line of sight direction. The filter also includes a technique for detecting highly improbable measurements and excluding them from Kalman processing.
Results of a covariance study to evaluate the performance of a proposed Very Long Baseline Interferometric (VLBI) system for TDRSS orbit determination (OD) are presented. This dedicated VLBI system consists of 4 one meter antennas for each TDRS positioned on orthogonal 6000 km baselines and uses a GPS signal for clock synchronization and calibration of measurement error sources. The performance of the VLBI system is compared with the current BRT system for support of TDRSS navigation. The criteria for evaluating the system performance is the TDRSS OD accuracy and the resulting navigation accuracy for two typical TDRSS users represented by a TOPEX type orbit and a Space Shuttle orbit. Based on the anticipated characteristics of a 1990 era VLBI system a factor of 20 improvement can be expected in the TDRSS OD accuracy. This translates into accuracy improvements ranging from factors of 3 to 10 for typical TDRSS users.
The present investigation is concerned with a sensitivity analysis of the Decelerated Steep Approach and Landing (DSAL) maneuver to on-board and ground-based navigation system parameters. The Instrument Meteorological Conditions (IMC) DSAL maneuver involves decelerating to zero range rate while tracking the localizer and glideslope. The considered study investigated the performance of the navigation systems using Constant Deceleration Profile (CDP) guidance and a six degrees glideslope trajectory. A closed-loop computer simulation of the UH1H helicopter DSAL system was developed for the sensitivity analysis. Conclusions on system performance parameter sensitivity are discussed.
Shuttle navigation which is the determination of Orbiter position, velocity, and attitude and associated effort, together with guidance, flight control, consumables, and systems management, is required for classical navigation. Position and velocity propagation requires the measurement or modeling of the gravitational, aerodynamic, and rocket engine forces acting on the vehicle. Position and velocity determination is performed or observations of the distance to external features, the rate of change, and the direction toward the feature. Onboard state propagation is more often the mode of state knowledge maintenance, since the ability to determine position and velocity using such observations is limited. An overview of Shuttle nevigation is presented.
Deep space tracking experiments completed at JPL have demonstrated a 50-nanoradian angular positioning accuracy with wideband differential Very Long Baseline Interferometry (delta VLBI). This meets the stringent navigation requirements of NASA's Galileo mission, scheduled for launch in May 1986 and for encounter with Jupiter in December 1988. Pairs of extragalactic radio sources (quasars) with well-known coordinates were used to simulate deep space navigation passes in which quasar-spacecraft pairs are observed. This paper discusses the accuracy of the delta VLBI technique and how it is affected by source separations, source elevations, source strengths, solar plasma and ionosphere. Several observation strategies are discussed and one is shown to be especially effective in minimizing these major error sources.
In order to increase the success rate of the Delta-DOR (Delta-Differential One-way Range) VLBI navigational support for the French-Soviet Venus Balloon and Halley Pathfinder projects, forty-four extragalactic radio sources were observed in advance of these projects to determine which were suitable for use as reference sources. Of these forty-four radio sources taken from the existing JPL radio source catalogue, thirty-six were determined to be of sufficient strength for use in Delta-DOR VLBI navigation.
A Multisensor Navigation System as proposed by the Ohio University Avionics Engineering Center is illustrated. The proposed system incorporates radio (Lorac-C), satellite (Global Positioning System) and an inertial navigation system (INS). The inertial part of the system will be of a low grade since the INS will be used primarily for filtering the GPS data and for short term stability. Loran-C and GPS will be used for long term stability.
The navigation of the Mariner Mark II spacecraft about the comet Tempel 2 in the Comet Rendezvous Asteroid Flyby (CRAF) mission is described. This mission is the first of a series using the Mariner Mark II spacecraft planned for the 1990's and thereafter. The primary purpose of the mission is to orbit the nucleus of the periodic comet Tempel 2 and study it at close range. A secondary purpose is to fly by and observe one or two asteroids enroute to the comet. During the orbital phase of the mission, a penetrator will be deployed from the spacecraft to impact the surface of the comet and measure the composition and other properties of the nucleus. Navigation accuracies are given in this paper for spacecraft and penetrator trajectory prediction and control. The orbit determination performance in support of science observations while in orbit about the nucleus is also described.
A futuristic interplanetary navigation system using transmitters placed on selected asteroids is introduced. This network of space beacons is seen as a needed alternative to the overly burdened Deep Space Network. Covariance analyses on the potential performance of these space beacons located on a candidate constellation of eight real asteroids are initiated. Simplified analytic calculations are performed to determine limiting accuracies attainable with the network for geometric positioning. More sophisticated computer simulations are also performed to determine potential accuracies using long arcs of range and Doppler data from the beacons. The results from these computations show promise for this navigation system.
Short baseline phase delay interferometry can provide angular navigation capabilities which are competitive with current accuracies for group delay Very Long Baseline Interferometry (VLBI) on intercontinental baselines. In addition, a number of operational considerations make short baseline interferometry attractive, including enhanced mutual visibility, ability to observe at higher elevation angles, and the possibility of processing data in realtime. To make use of the higher precision phase delay datatype, however, the cycle ambiguity associated with the observed interferometric phase must be resolved. Results are presented for two experiments, on baselines of 5.9 and 253 km, for which RF phase connection appears to have been reliably achieved for several groups of angularly close radio sources. The dependence of the resulting phase delay residuals on elevation suggests that temporal fluctuations in the line-of-sight troposphere delay are a dominant error source. The observed RMS phase delay residuals of 10 psec or less suggest that baselines of order 100 km could provide high-efficiency angular navigation with accuracies well below 50 nrad. Plans for further work at the Goldstone Deep Space Communication Complex are reviewed.
Software and hardware assembled to support specific engineering activities. Stellar Inertial Navigation Workstation (SINW) is integrated computer workstation providing systems and engineering support functions for Space Shuttle guidance and navigation-system logistics, repair, and procurement activities. Consists of personal-computer hardware, packaged software, and custom software integrated together into user-friendly, menu-driven system. Designed to operate on IBM PC XT. Applied in business and industry to develop similar workstations.
Less processing and storage of data needed. Mathematical basis developed for Kalman filtering of sequential measurements of range from single-channel receiver in Global Positioning System (GPS) to each of several navigation satellites. Range filtering involves separate applications of kinematic Kalman tracking filter to measurements of signal from each satellite in use. State vector consists of pseudorange and time derivatives. Main advantages: simplification of tuning and decreases in required amounts of storage and processing of data for navigation in ships, airplanes, and ground vehicles.
A computerized human engineered inspection technique is developed for use by FAA inspectors in evaluating the pilot factors aspects of aircraft navigation systems. The short title for this project is Nav Handbook. A menu-driven checklist, computer program and data base (Human Factors Design Criteria) were developed and merged to form a self-contained, portable, human factors inspection checklist tool for use in a laboratory or field setting. The automated checklist is tailored for general aviation navigation systems and can be expanded for use with other aircraft systems, transports or military aircraft. The Nav Handbook inspection concept was demonstrated using a lap-top computer and an Omega/VLF CDU. The program generates standardized inspection reports. Automated checklists for LORAN/C and R NAV were also developed. A Nav Handbook User's Guide is included.
Dryden Flight Research Center has the responsibility for flight testing of advanced remotely piloted research vehicles (RPRV) to explore highly maneuverable aircraft technology, and to test advanced structural concepts, and related aeronautical technologies which can yield important research results with significant cost benefits. The primary purpose is to provide the preliminary design of an upgraded automatic approach and landing control system and flight director display to improve landing performance and reduce pilot workload. A secondary purpose is to determine the feasibility of an onboard autonomous navigation, orbit, and landing capability for safe vehicle recovery in the event of loss of telemetry uplink communication with the vehicles. The current RPRV approach and landing method, the proposed automatic and manual approach and autoland system, and an autonomous navigation, orbit, and landing system concept which is based on existing operational technology are described.